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Project Config and First Run (Simulated Axes)

WARNING: This section is meant for operation of simulated axes only.

The Compass 2 iCube Engineer Starter Project does not include machine specific limits necessary for safe operation of a physical system.  Always confirm that SERVOPACK parameters, iCube MC axis configuration, PLC application code, Compass NC motion parameters, and Compass UI Runtime configuration conform to all application-specific requirements before using Compass 2 to move any physical axes on a machine.

iCube Engineer

  • Use the 2025.6 build of iCube Engineer software and 2025.6 build of iCube Engineer firmware for the controller.
  • Set the IP address of the controller, and set the gateway to match the IP address of the PC executing the Compass UI Runtime.

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    1. Note: The Compass 2 iCube Engineer Starter Project comes configured with a Motion Group controlling 5 virtual axes (X, Y, Z, and Aux1/E,Tangent ), which control 4 simulated servo net axes.​
    2. You can test the PC to controller communication, basic features, and run sample G-code files while observing simulated axes motion.
  • In iCube Engineer, connect to the controller and “Write and Start” the Compass 2 iCube Engineer Starter Project.

    • Compass Designer

    1. Ensure a USB dongle license is in use on the PC.
    2. On the welcome screen of the Compass Designer software, open the “Compass Classic” starter project.
    3. Name the project and save it in the default path.
    4. Enter the controller’s IP address
      1. Located on the top left menu bar of the Designer software under Project → NC System Configuration
      2. Expand the PLCConfig section
      3. Edit the "IPAddress" value
    5. Click Build & Run in the toolbar
      1. This creates and opens an instance of the Compass UI Runtimethat will be used by machine operators.
      2. The executable output will be stored in "C:\Users\Public\Documents\YASKAWA\CompassDesigner\Projects\<Project Name>\Build\bin\Release\net8.0-windows"
      3. Alternatively, click Run to execute the previous build of the project.

    iCube/iC9200 + Compass Running App

    This section assumes:

    1. The Compass Designer created app is running on the PC, with a USB dongle license.

    2. The PC and iC9200 controller are connected directly via an Ethernet cable.

    3. The Compass 2 iCube Engineer Starter Project is running on the target iC9200 in debug mode.

    The following steps will verify communication between the Compass UI Runtime and the controller. As well as, basic functionality of the Compass Designer project:

    1. Servo ON/OFF functionality
      1. Compass UI Runtime:
        1. Click the “Servo” button on the right side of the screen (The button should change colors to green when Servo ON, red when Servo OFF)

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      2. Compass 2 iCube Engineer Starter Project:
        1. Main Task → Compass_GroupControl : verify “VirtualGroupIsEnabled” matches the UI Runtime’s servo state

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        1. Main Task → Compass_GroupControl : verify “RealGroupIsEnabled” and "realGroupPowerON" matches the UI Runtime’s servo state

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    2. Proper jog operation (Selected Axis, Jog Velocity, Jog Accel)
      1. Compass UI Runtime:
        1. Set "Jog Velocity" and "Jog Accel" in the Manual tab

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        2. With Servo’s ON and Velocity/Acceleration set, verify jog behavior by observing the Digital Read Out (DRO) in the UI Runtime

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      2. In the Compass 2 iCube Engineer Starter Project:
        1. Main Task → OEM_MachineControlLogic : verify “HMI_Command.SetJogVelocity” and “HMI_Command.SetJogAcceleration”

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    3. Running a G-code file:
      1. Navigate to the "Auto" Tab
      2. Before running a G-code file, it's important to set “init” parameters for Compass NC to prevent over-speed and other errors.
        1. These values are set by writing them at the top of a G-code file before any motion commands

        2. The complete list of “init” parameters can be foundParameter Table , but the most commonly set parameters are:

          1. Feed/MaxFeedrate - Linear path maximum velocity value (units/min)
          2. Feed/CornerAcceleration - Maximum corner or centripetal acceleration (units/min)
          3. Feed/Acceleration - Maximum linear acceleration value (units/min)
          4. Feed/Deceleration - Maximum linear deceleration value (units/min)
          5. LA/MaxSegmentTimeSeconds - Each motion segment will be split into micro segments, not exceeding this duration
        3. Open a G-code file and add “init” parameters if necessary

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        4. To create a new G-code file press the edit button
        5. Here is a sample rectangle file to start with:

          #<NC.Feed.MaxFeedRate> = 5000.0

          #<NC.Feed.CornerAcceleration> = 1000.0

          #<NC.Feed.Acceleration> = 5000.0

          #<NC.Feed.Deceleration> = 5000.0

          #<NC.LA.MaxSegmentTimeSeconds> = 0.4

          N1 G90 G17 G21

          N2 G52 X0 Y0 Z0

          N3 G43 P0

          N4 G1 X0.0 Y0.0 F1200

          N5 G1 X0.0 Y100.0

          N6 G1 X100.0 Y100.0

          N7 G1 X100 Y0.0

          N8 G1 X0.0 Y0.0

          N9 M30
        6. Save the entered code
        7. Then click the edit button once more to ready the G-code
    4. Servo ON and Cycle Start
      1. For the provided rectangle file, observe axis positions on the DRO of the Compass UI Runtime or in the iCube Logic Analyzer
        1. Verify that X and Y axes are moving from 0 to 100 and back to 0 position
        2. Additionally, the commanded motion can be observed in the 3D viewing area on the Compass UI Runtime.

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